#include "npu_robot/goal_class.h"

GoalClass::GoalClass(float position_x, float position_y, float orientation_z, float orientation_w)
{
    this->position_x = position_x;
    this->position_y = position_y;
    this->orientation_z = orientation_z;
    this->orientation_w = orientation_w;
}

move_base_msgs::MoveBaseGoal GoalClass::getGoal(void)
{
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.pose.position.x = position_x;
    goal.target_pose.pose.position.y = position_y;
    goal.target_pose.pose.position.z = 0;
    goal.target_pose.pose.orientation.x = 0;
    goal.target_pose.pose.orientation.y = 0;
    goal.target_pose.pose.orientation.z = orientation_z;
    goal.target_pose.pose.orientation.w = orientation_w;

    return goal;
}
